Titlebook: Dissipative Systems Analysis and Control; Theory and Applicati Bernard Brogliato,Rogelio Lozano,Olav Egeland Book 2020Latest edition Spring

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Dissipative Physical Systems,e conservation of energy (first principle of thermodynamics) and the interaction with their environment through pairs of conjugated variables with respect to the power. First, we shall recall three different definitions of systems obtained by energy-based modeling: controlled Lagrangian, input–outpu

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Passivity-Based Control, stable and robust feedback controllers (in continuous and discrete time). We start with a classical result of mechanics, which actually is the basis of Lyapunov stability and Lyapunov functions theory. The interest of this result is that its proof hinges on important stability analysis tools, and a

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Adaptive Control,cations of dissipativity theory in the stability of adaptive schemes in Chaps.?.–.. Direct adaptation means that one has been able to rewrite the fixed parameter input ., in a form that is linear with respect to some unknown parameters, usually written as a vector ., i.e., ., where . is a known matr

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Experimental Results,sed in the foregoing chapters. The first set of experiments concerns flexible-joint manipulators, whose dynamics and control have been thoroughly explained. One system is nonlinear and weakly flexible, the other one is linear and highly flexible.

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Dissipative Systems,s [., .], fully actuated and underactuated satellites [.], combustion engines [.], power converters [.,.,.,.,.,.], neural networks [.,.,.,.], smart actuators [.], piezoelectric structures [.], haptic environments and interfaces [.,.,.,.,.,.,.,.,.,.], particulate processes [.], process and chemical s

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Adaptive Control,ote . in the sequel. In other words, . is replaced by . at the input of the system, and . is estimated online with a suitable identification algorithm. As a consequence, one easily imagines that the closed-loop system stability analysis will become more complex. However, through the Passivity Theore

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Book 2020Latest edition additions include:..· the introduction of negative imaginary transfer functions;.· the design of stable state observers that use passivity as a tool for their stability analysis;..· a new section on robust set-valued control of uncertain Lagrangian systems;..· extended section on discrete-time syst